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Commitd26d639

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author
Benjamin Greiner
committed
unit test for _common_den()
1 parent1029410 commitd26d639

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‎control/tests/xferfcn_test.py

Lines changed: 53 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -496,8 +496,57 @@ def test_freqresp_mimo(self):
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np.testing.assert_array_equal(omega,true_omega)
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# Tests for TransferFunction.pole and TransferFunction.zero.
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@unittest.skipIf(notslycot_check(),"slycot not installed")
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deftest_common_den(self):
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""" Test the helper function to compute common denomitators."""
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# _common_den() computes the common denominator per input/column.
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# The testing columns are:
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# 0: no common poles
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# 1: regular common poles
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# 2: poles with multiplicity,
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# 3: complex poles
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# 4: complex poles below threshold
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eps=np.finfo(float).eps
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tol_imag=np.sqrt(eps*5*2*2)*0.9
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numin= [[[1.], [1.], [1.], [1.], [1.]],
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[[1.], [1.], [1.], [1.], [1.]]]
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denin= [[[1.,3.,2.],# 0: poles: [-1, -2]
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[1.,6.,11.,6.],# 1: poles: [-1, -2, -3]
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[1.,6.,11.,6.],# 2: poles: [-1, -2, -3]
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[1.,6.,11.,6.],# 3: poles: [-1, -2, -3]
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[1.,6.,11.,6.]],# 4: poles: [-1, -2, -3],
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[[1.,12.,47.,60.],# 0: poles: [-3, -4, -5]
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[1.,9.,26.,24.],# 1: poles: [-2, -3, -4]
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[1.,7.,16.,12.],# 2: poles: [-2, -2, -3]
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[1.,7.,17.,15.],# 3: poles: [-2+1J, -2-1J, -3],
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np.poly([-2+tol_imag*1J,-2-tol_imag*1J,-3])]]
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numref=np.array([
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[[0.,0.,1.,12.,47.,60.],
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[0.,0.,0.,1.,4.,0.],
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[0.,0.,0.,1.,2.,0.],
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[0.,0.,0.,1.,4.,5.],
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[0.,0.,0.,1.,2.,0.]],
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[[0.,0.,0.,1.,3.,2.],
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[0.,0.,0.,1.,1.,0.],
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[0.,0.,0.,1.,1.,0.],
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[0.,0.,0.,1.,3.,2.],
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[0.,0.,0.,1.,1.,0.]]])
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denref=np.array(
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[[1.,15.,85.,225.,274.,120.],
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[1.,10.,35.,50.,24.,0.],
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[1.,8.,23.,28.,12.,0.],
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[1.,10.,40.,80.,79.,30.],
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[1.,8.,23.,28.,12.,0.]])
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sys=TransferFunction(numin,denin)
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num,den,denorder=sys._common_den()
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np.testing.assert_array_almost_equal(num[:2, :, :],numref)
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np.testing.assert_array_almost_equal(num[2:, :, :],
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np.zeros((3,5,6)))
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np.testing.assert_array_almost_equal(den,denref)
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deftest_pole_mimo(self):
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"""Test for correct MIMO poles."""
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@@ -508,13 +557,12 @@ def test_pole_mimo(self):
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np.testing.assert_array_almost_equal(p, [-2.,-2.,-7.,-3.,-2.])
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511-
@unittest.skipIf(notslycot_check(),"slycot not installed")
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deftest_double_cancelling_poles_siso(self):
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H=TransferFunction([1,1], [1,2,1])
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p=H.pole()
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np.testing.assert_array_almost_equal(p, [-1,-1])
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# Tests for TransferFunction.feedback
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deftest_feedback_siso(self):
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"""Test for correct SISO transfer function feedback."""

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